Refactor camera orthographic attribute to projection enum.
PiperOrigin-RevId: 847069028 Change-Id: I7f686fe654e9b56519cab8bd2f37c9cc40091d3f
This commit is contained in:
Yuval Tassa
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Copybara-Service
Copybara-Service
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@@ -166,6 +166,16 @@ elements. These values are used in ``m->geom_type`` and ``m->site_type``.
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.. mujoco-include:: mjtGeom
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.. _mjtProjection:
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mjtProjection
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~~~~~~~~~~~~~
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Type of camera projection. Used in ``m->cam_projection``.
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.. mujoco-include:: mjtProjection
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.. _mjtCamLight:
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mjtCamLight
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@@ -2961,11 +2961,11 @@ and the +Y axis points up. Thus the frame position and orientation are the key a
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When the camera mode is "targetbody" or "targetbodycom", this attribute becomes required. It specifies which body
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should be targeted by the camera. In all other modes this attribute is ignored.
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.. _body-camera-orthographic:
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.. _body-camera-projection:
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:at:`orthographic`: :at-val:`[false, true], "false"`
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Whether the camera uses a perspective projection (the default) or an orthographic projection. Setting this attribute
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changes the semantic of the :ref:`fovy<body-camera-fovy>` attribute, see below.
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:at:`projection`: :at-val:`[perspective, orthographic], "perspective"`
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Whether the camera uses a perspective (the default) or orthographic projection. Setting this
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attribute to "orthographic" changes the semantic of the :ref:`fovy<body-camera-fovy>` attribute, see below.
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.. _body-camera-fovy:
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@@ -8666,7 +8666,7 @@ if omitted.
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| This element sets the attributes of the dummy :ref:`site <body-site>` element of the defaults class.
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| All site attributes are available here except: name, class.
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.. _default-camera-orthographic:
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.. _default-camera-projection:
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.. _default-camera-fovy:
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+2
-2
@@ -302,7 +302,7 @@
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| :ref:`camera | \* | :class: mjcf-attributes |
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| <body-camera>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<body-camera-name>` | :ref:`class<body-camera-class>` | :ref:`orthographic<body-camera-orthographic>` | :ref:`fovy<body-camera-fovy>` | |
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| | | | :ref:`name<body-camera-name>` | :ref:`class<body-camera-class>` | :ref:`projection<body-camera-projection>` | :ref:`fovy<body-camera-fovy>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`ipd<body-camera-ipd>` | :ref:`resolution<body-camera-resolution>` | :ref:`pos<body-camera-pos>` | :ref:`quat<body-camera-quat>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -1490,7 +1490,7 @@
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| :ref:`camera | ? | :class: mjcf-attributes |
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| <default-camera>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`orthographic<default-camera-orthographic>` | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`resolution<default-camera-resolution>` | |
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| | | | :ref:`projection<default-camera-projection>` | :ref:`fovy<default-camera-fovy>` | :ref:`ipd<default-camera-ipd>` | :ref:`resolution<default-camera-resolution>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`pos<default-camera-pos>` | :ref:`quat<default-camera-quat>` | :ref:`axisangle<default-camera-axisangle>` | :ref:`xyaxes<default-camera-xyaxes>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+12
-1
@@ -5,6 +5,17 @@ Changelog
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Upcoming version (not yet released)
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-----------------------------------
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.. admonition:: Breaking API changes
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:class: attention
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- The ``mjModel.cam_orthographic`` field has been renamed to ``cam_projection``, with the semantic of a new enum type
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:ref:`mjtProjection`. This will allow for more projection types in the future like fisheye cameras.
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Relatedly, the ``camera/orthographic`` MJCF attribute for cameras has been renamed to
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:ref:`camera/projection<body-camera-projection>` and now accepts the values ``orthographic`` and ``perspective``.
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**Migration:** Replace ``orthographic = "false/true"`` with ``projection="perspective/orthographic"``,
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respectively.
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General
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^^^^^^^
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- Non-breaking ABI changes:
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@@ -793,7 +804,7 @@ General
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:width: 240px
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8. Added support for orthographic cameras. This is available for both fixed cameras and the free camera, using the
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:ref:`camera/orthographic<body-camera-orthographic>` and :ref:`global/orthographic<visual-global-orthographic>`
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``camera/orthographic`` and :ref:`global/orthographic<visual-global-orthographic>`
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attributes, respectively.
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9. Added :ref:`maxhullvert<asset-mesh-maxhullvert>`, the maximum number of vertices in a mesh's convex hull.
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10. Added :ref:`mj_setKeyframe` for saving the current state into a model keyframe.
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@@ -538,6 +538,10 @@ typedef enum mjtGeom_ { // type of geometric shape
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mjGEOM_NONE = 1001 // missing geom type
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} mjtGeom;
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typedef enum mjtProjection_ { // type of camera projection
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mjPROJ_PERSPECTIVE = 0, // perspective
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mjPROJ_ORTHOGRAPHIC // orthographic
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} mjtProjection;
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typedef enum mjtCamLight_ { // tracking mode for camera and light
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mjCAMLIGHT_FIXED = 0, // pos and rot fixed in body
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mjCAMLIGHT_TRACK, // pos tracks body, rot fixed in global
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@@ -1223,7 +1227,7 @@ struct mjModel_ {
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mjtNum* cam_poscom0; // global position rel. to sub-com in qpos0 (ncam x 3)
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mjtNum* cam_pos0; // global position rel. to body in qpos0 (ncam x 3)
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mjtNum* cam_mat0; // global orientation in qpos0 (ncam x 9)
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int* cam_orthographic; // orthographic camera; 0: no, 1: yes (ncam x 1)
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int* cam_projection; // projection type (mjtProjection) (ncam x 1)
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mjtNum* cam_fovy; // y field-of-view (ortho ? len : deg) (ncam x 1)
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mjtNum* cam_ipd; // inter-pupilary distance (ncam x 1)
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int* cam_resolution; // resolution: pixels [width, height] (ncam x 2)
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@@ -2102,7 +2106,7 @@ typedef struct mjsCamera_ { // camera specification
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mjString* targetbody; // target body for tracking/targeting
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// intrinsics
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int orthographic; // is camera orthographic
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mjtProjection proj; // camera projection type
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double fovy; // y-field of view
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double ipd; // inter-pupilary distance
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float intrinsic[4]; // camera intrinsics (length)
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